Spring 2018 CIS 693, EEC 693, EEC 793: Autonomous Intelligent Robotics Instructor: Shiqi Zhang http://eecs.csuohio.edu/~szhang/teaching/18spring/
Issues observed in Readings 1&2 ● Too much rewordings and summaries ● Questions from nowhere – “I don't understand this sentence” without context ● Definition questions – Google scholar, Wikipedia, Academic Microsoft ● Reader-unfriendly format – Super long paragraphs – Better to highlight your questions ● Readings are never perfect
Particle filter: the algorithm
Another example from Microsoft (2012) Phone-based indoor localization Check the 3 rd view video
Another robot localization (and navigation) video in 2013 ● https://youtu.be/WIsnTCtDcUM
How does the number of samples affect the performance of the algorithm? ● KLD-sampling: Adaptive particle filters https://rse-lab.cs.washington.edu/projects/mcl/ Fox, Dieter. "Adapting the sample size in particle filters through KLD-sampling." The international Journal of robotics research 22, no. 12 (2003): 985-1003.
ROS AMCL at a glance More info available here: http://wiki.ros.org/amcl
Robot localization using ROS AMCL ● https://youtu.be/NqJ3fi547uY
Any questions about Assignment 2?
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